STPK-1429 Fix gyroscope drift elimination routine

abs was too heavy handed for these checks

Issue STPK-1429

Change-Id: Ia2d1a3d08f735d23e06d78672dc38e564ee157f2
Signed-off-by: Patrick Porlan <patrick.porlan@intel.com>

diff --git a/transform.c b/transform.c
index e21066a..dd554c1 100644 (file)
--- a/transform.c
+++ b/transform.c
@@ -194,8 +194,9 @@ static void finalize_sample_default(int s, struct sensors_event_t* data)
 
                case SENSOR_TYPE_GYROSCOPE:
                        /* Limit drift */
-                       if (abs(data->data[0]) < .05 && abs(data->data[1]) < .05
-                               && abs(data->data[2]) < .05) {
+                       if (    fabs(data->data[0]) < 0.1 &&
+                               fabs(data->data[1]) < 0.1 &&
+                               fabs(data->data[2]) < 0.1) {
                                        data->data[0] = 0;
                                        data->data[1] = 0;
                                        data->data[2] = 0;